源码学习：amr-lmpcc_01

本文最后更新于：2020年6月26日 下午

项目地址：https://github.com/tud-amr/amr-lmpcc

1. 源码目录

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\amr-lmpcc
├── CMakeLists.txt
├── costmap_2d
├── images
├── jackal_simulator
├── LICENSE
├── lmpcc
├── lmpcc.rosinstall
├── lmpcc_msgs
├── lmpcc_obstacle_feed
├── mobile_robot_state_publisher
├── README.md
├── static_collision_avoidance
└── vision_msgs

directory: 9 file: 4

该项目分为8个单独的包：

  1. costmap_2d：代价地图
  2. jackal_simulator：gazebo仿真环境下jackal机器人的相关配置
  3. lmpcc：LMPCC的核心算法
  4. lmpcc_msgs：障碍物和反馈信息的消息格式
  5. lmpcc_obstacle_feed：移动障碍物的处理
  6. mobile_robot_state_publisher：机器人的位姿
  7. static_collision_avoidance：静态障碍物的处理
  8. vision_msgs：用于ROS中的计算机视觉和对象检测工作的消息格式

接下来将重点分析：lmpcc，lmpcc_obstacle_feed，static_collision_avoidance这几个包。

2. 相关项目

  • MPCC: Simulation environments in C++ and Matlab of the Model Predictive Contouring Controller (MPCC) for Autonomous Racing developed by the Automatic Control Lab (IfA) at ETH Zurich
  • pedsim_ros: ROS packages for a 2D pedestrian simulator based on social force model of Helbing et. al.
  • spencer_people_tracking: Multi-modal ROS-based people and group detection & tracking framework for mobile robots developed within the context of the EU FP7 project SPENCER.
  • g1fitting: Clothoid generation and sampling library, with Python wrapper
  • acado: ACADO Toolkit is a software environment and algorithm collection for automatic control and dynamic optimization.

3. 硬件配置